The invention relates to vehicle-to-all message improper behavior detection. The present disclosure includes embodiments for an ego vehicle to detect improper behavior. According to some embodiments, a method includes receiving a V2X message from an attacker. The V2X message includes V2X data describing a position of the object at the target time. The method includes receiving a set of CPMs from a set of remote devices. The set of CPMs includes remote sensor data describing a free space region within the roadway environment. The method includes determining that a correlation subset of the CPM includes remote sensor data related to detecting the improper behavior. The method includes determining that the object is not located at the location at the target time based at least in part on the remote sensor data of the associated subset. The method includes detecting an improper behavior of the attacker based on a determination that the object is not located at the location at the target time.
本公开涉及车辆到一切消息的不当行为检测。本公开包括用于自我车辆检测不当行为的实施例。根据一些实施例,一种方法包括从攻击者接收V2X消息。V2X消息包括描述物体在目标时间的位置的V2X数据。该方法包括从远程设备的集合接收CPM的集合。CPM的集合包括描述道路环境内的自由空间区域的远程传感器数据。该方法包括确定CPM的相关子集包括与检测不当行为相关的远程传感器数据。该方法包括至少部分地基于相关子集的远程传感器数据确定物体在目标时间不位于所述位置处。该方法包括基于物体在目标时间不位于所述位置处的确定来检测攻击者的不当行为。
Vehicle-to-everything message improper behavior detection
车辆到一切消息的不当行为检测
2022-03-29
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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